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cs.RO2026
Closed-Loop Aware Planning via Imitation-Free Speed Scoring for End-to-End Autonomous Driving
Emad Aghajanzadeh, Thomas Schwarzfischer, Marc Kaufeld +8
End-to-end autonomous driving has predominantly relied on open-loop imitation learning for training, which presents two limitations. First, expert demonstrations show only one beha…
cs.RO2026
Comfortably Stuck: Evaluation Pitfalls in Bench2Drive's Closed-Loop Protocol
Thomas Schwarzfischer, Emad Aghajanzadeh, Moritz Thoma +5
Closed-loop evaluation is widely regarded as a more faithful way to assess end-to-end (E2E) driving models than open-loop evaluation, and Bench2Drive, built on the CARLA simulator,…